$$\newcommand{\aset}[1]{\mathcal{#1}} % Set \newcommand{\amat}[1]{\mathbf{#1}} % Matrix \newcommand{\avec}[1]{\mathbf{#1}} % Vector \newcommand{\rv}[1]{\boldsymbol{#1}} % Random variable \newcommand{\definedas}{\triangleq} % Defined as \newcommand{\nats}{\mathbb{N}} % Natural numbers \newcommand{\ints}{\mathbb{Z}} % Integers \newcommand{\rats}{\mathbb{Q}} % Rationals \newcommand{\reals}{\mathbb{R}} % Real numbers \newcommand{\comp}{\mathbb{C}} % Complex numbers \newcommand{\Time}{\mathbb{T}} % Time axis \newcommand{\SEthree}{\text{SE}(3)} \newcommand{\SEtwo}{\text{SE}(2)} \newcommand{\sethree}{\text{se}(3)} \newcommand{\setwo}{\text{se}(2)} \newcommand{\SOthree}{\text{SO}(3)} \newcommand{\pose}{\boldsymbol{q}} % Pose \newcommand{\state}{\boldsymbol{x}} % State \newcommand{\statesp}{\mathcal{X}} % State space \newcommand{\bmu}{\boldsymbol{\mu}} % mean \newcommand{\bSigma}{\boldsymbol{\Sigma}} % covariance matrix \newcommand{\tup}[1]{\langle#1\rangle} % Tuple$$

Soldering boards for `DB17`

Shiying

Parts: Duckiebot DB17 parts. The acquisition process is explained in Unit C-2 - Acquiring the parts for the Duckiebot DB17-wjd. The configurations are described in Unit C-1 - Duckiebot configurations. In particular:

Tools: Solderer

Experience: some novice-level experience with soldering.

Time: 30 minutes

Soldered DC Motor HAT

It is better to be safe than sorry. Soldering is a potentially hazardous activity. There is a fire hazard as well as the risk of inhaling toxic fumes. Stop a second and make sure you are addressing the safety standards for soldering when following these instructions. If you have never soldered before, seek advice.

General tips

There is a general rule in soldering: solder the components according to their height, from lowest to highest.

In this instruction set we will assume you have soldered something before and are acquainted with the soldering fundamentals. If not, before proceeding, read this great tutorial on soldering:

Alternative instructions: how to solder on Headers and Terminal Block

Preparing the components

Take the GPIO stacking header Figure 3.1 out of Duckiebox and sort the following components from DC motor HAT package:

Adafruit DC/Stepper Motor HAT for Raspberry Pi
2-pin terminal block (2x), 3-pin terminal block (1x)

GPIO_Stacking_Header

DC/Stepper Motor HAT and solder components

Soldering instructions

1) Make a 5 pin terminal block by sliding the included 2 pin and 3 pin terminal blocks into each other Figure 3.3.

5 pin terminal_block

2) Slide this 5 pin block through the holes just under “M1 GND M2” on the board. Solder it on (we only use two motors and do not need connect anything at the “M3 GND M4” location) (Figure 3.6);

3) Slide a 2 pin terminal block into the corner for power. Solder it on. (Figure 3.5);

4) Slide in the GPIO Stacking Header onto the 2x20 grid of holes on the edge opposite the terminal blocks and with vice versa direction (Figure 3.4). Solder it on.

stick the GPIO Stacking Header from bottom to top, different orientation than terminal blocks (from top to bottom).

Side view of finished soldering DC/Stepper Motor HAT

upside view of finished soldering DC/Stepper Motor HAT